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What material can you use to fill a footstool?
I have in mind to make a large cube-shaped footstool. Would a piece of foam, covered in fabric hold its shape? Maybe beanbag beans? I'd love any suggestions.
And how would it fare if I were to sit on it? I want it to have a degree of squishy-cuddliness, without losing its shape or sagging too much when sat on.
Thanks for your help 
You'd be surprised how expensive foam is, but it's your best bet. Your are going to need to put some type of frame under it if you want to be able to sit on it, however. I suggest going to a 2nd hand store or Salvation Army type store, and looking for old footstools in about the right shape.
That gives you a base to work from. If it's fine except for the cover, just add a new cover over it. If there is a texture or pattern you want to obsure, use thin polyester batting to cover it first (right over the old fabric), then cover the new batting with your finish fabric.
If you feel like you must remove the old fabric because it is so gross you suspect there may be critters underneath, then go ahead and do that (outside your house), but it is really an unnecessary step otherwise.
If you have to replace or add to the foam, you can use either the foam from an old pillow or cushion, or buy new foam at a fabric store, or a thick cotton chair batting, depending on the thickness you need.
Andrews Massive BeanBag Chair